Amount of revenue, fees and commissions earned from transactions between (a) a parent company and its subsidiaries; (b) subsidiaries of a common parent; (c) an entity and trusts for the benefit of employees, for example, but not limited to, pension and profit-sharing trusts that are managed by or under the trusteeship of the entity's management; (d) an entity and its principal, owners, management, or members of their immediate families; and (e) affiliates.

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Distribution Agreement - Additional Information (Details) - Itochu Corporation Agreement $ in Millions	1 Months Ended			12 Months Ended
	Aug. 31, 2016 USD ($)	Dec. 31, 2015 USD ($)	Dec. 31, 2014 USD ($) installment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Distribution Agreement [Line Items]
Distribution agreement term (in years)			10 years
Distribution fees				$ 0.5	$ 0.5	$ 0.5
Number of installments \| installment			3
Remaining term of distribution agreement (in years)	8 years 6 months
Distribution rights
Distribution Agreement [Line Items]
Distribution fees			$ 4.0
Payment period			10 days
Distribution fee reclassified to deferred revenue	$ 4.0
Distribution rights \| First Installment
Distribution Agreement [Line Items]
Distribution fees			$ 1.0
Distribution rights \| Second Installment
Distribution Agreement [Line Items]
Distribution fees			1.0
Distribution rights \| Third Installment
Distribution Agreement [Line Items]
Distribution fees			2.0
Distribution fees payment	$ 2.0
Distribution rights \| First and Second Installment
Distribution Agreement [Line Items]
Distribution fees payment		$ 2.0	$ 2.0